Autonomous mobile delivery robot and chain of custody system

ABSTRACT

Disclosed are a system and a method that includes a robotic unit configured to deliver items (e.g., medicine, foodstuff, linens, equipment, etc.) to sites (e.g., rooms, offices, etc.) and/or individuals (e.g., patients, pharmacists, technician, etc.) throughout a facility (e.g., hospital, office building, mailroom, manufacturing facility, etc.). The robotic unit is a mobile unit that operates autonomously to follow predetermined or programmed routes throughout the facility to deliver the items. The system is configured to maintain a chain of custody for the items. In addition, the robotic unit is configured to only allow designated items to be delivered to designated sites and/or to authorized individuals. This can be achieved by the robotic unit having a plurality of containers that are locked within a storage space of the robotic unit, and are only accessible upon successful completion of an authorization process.

CROSS-REFERENCE TO RELATED APPLICATIONS

This patent application is related to and claims the benefit of U.S.Provisional Patent Application No. 62/791,331, filed on Jan. 11, 2019,which is hereby incorporated by reference in its entirety

FIELD OF THE INVENTION

Embodiments relate to systems and methods for delivering items via anautonomous robotic unit whose payload is configurable to meet differingdelivery objectives including those which require the chain of custodyfor the items.

BACKGROUND OF THE INVENTION

Conventional systems for delivering items using robotic means arelimited in that they rely on static configurations of the deliverypayload as well as fail to provide a means to facilitate selectivedistribution of the items and a chain of custody for the items.

The present invention is designed to overcome at least one of the aboveidentified problems.

BRIEF SUMMARY OF THE INVENTION

Embodiments of the system include a robotic unit configured to deliveritems (e.g., goods, packages, supplies, medicine, foodstuff, linens,equipment, etc.) to sites (e.g., rooms, offices, stations, etc.) and/orindividuals (e.g., guests, residents, staff, patients, pharmacists,technician, etc.) throughout a facility (e.g., hotel, convention center,residential tower, hospital, office building, mailroom, manufacturingfacility, etc.). The robotic unit is a mobile unit that operatesautonomously and along generally defined or pre-defined routesthroughout the facility to deliver the items. The robotic unit operatingalong generally defined or pre-defined routes involves the robotic unitfollowing a route but can deviate from the route to avoid collisions,follow a detour, pursue a more or less optimal path, etc. The roboticunit has a storage space with a plurality of containers that areremovably secured therein. The containers can have various shapes,configurations, and features to provide a flexible, modular deliverysystem. Any one or combination of types of containers can be used for adesired delivery schedule. This can be done to provide a roboticdelivery system that is flexibly reconfigured to meet a desired purpose.For instance, embodiments of the robotic unit can be used in a hotelsetting to deliver items such as towels to patrons and/or staff at aroom location or other area, and be reconfigured to deliver snacks anddrinks to residents of the hotel, and be reconfigured to securelydeliver food (e.g., room service) to hotel guest's rooms, etc. It shouldbe noted that the robotic unit can be used or reconfigured for use inother settings, such as hospital settings (e.g., to deliverpharmaceuticals, medical supplies, etc.), office settings (e.g., todeliver mail, office supplies, etc.), residential settings (e.g., todeliver parcels and packages), manufacturing environments, etc.

The flexibility of the re-configurability of the robotic unit resides inthe modular nature of the containers (may be referred to herein asinserts) used in the robotic unit. The containers can be of any type orsize and can be interchangeable. For instance, the containers can bebins, trays, subcabinets, etc. Any of the containers can configured asdrink holders, snack holders, towel holders, parcel and package holders,food tray holders, medication holders etc. The containers can belockable so as to facilitate delivery of secured items. Thus, therobotic unit can be configured to deliver secured items in lockablecontainers and non-secured items in non-lockable containers. Lockingcontainers can be different forms including cabinets, drawers, bins orlockers. The various types of containers, the lockable and non-lockablenature of the containers, and the interchangeability of the containerswithin the robotic unit provides for a modular/flexible design formulti-purpose use.

Any of the items can be provided with tracking markers to facilitategenerating chain of custody information. For example, any one orcombination of the items can be associated with a barcode, RFID tag,infrared-detectable marker, etc. Sensors or scanners on the robotic unitcan track the presence, absence, or location of an item that has beenmarked with a marker to generate information that will be part of thechain of custody information. The chain of custody information caninclude when and where the container was accessed, when and where theitem was removed from the container, who accessed the container and/oritem, if an item had been delivered or not, if an item had beendelivered to a specified individual and/or location, etc. In someembodiments, the chain of custody feature can be selectively activatedor deactivated. The activation or deactivation can be initiated bymanual selection by a user or automatically via satisfaction of someother condition. For example, the chain of custody feature can beactivated when an item is placed within a lockable container. As will beexplained in detail later, the lockable container can only be unlockedvia entering an access code. The access code can be associated with aspecific individual and paired to the delivery location. Thus, anindividual accessing the container via the access code when the robotarrives at a specified destination can be used to compile the chain ofcustody information.

It is contemplated for the robotic unit to be an autonomous unit thatfollows generally defined or pre-defined routes as it makes deliveries.This can involve following predetermined paths throughout a facility,navigating autonomously to programmed destinations, using externalinputs (e.g., wireless devices, sensors, cameras etc.) to assist withnavigation, etc.

As a non-limiting example, the system can be configured for use in ahospitality setting (e.g., a hotel). The robotic unit can have aplurality of first type containers carrying various beverage items(e.g., the first type containers can have drink holders). The roboticunit can have a plurality of second type containers carrying varioussnack food items (e.g., the second type containers can have snackholders). The robotic unit can have a plurality of third type containerscarrying various hotel room and bathroom products, such as cosmetics,toiletries, towels, etc. As the robotic unit roams about the hotel orfollows a predetermined path, items can be accessed or delivered tohotel guests and staff. Any of the first, second, or third typecontainers can be removed and replaced by another type of container toallow the robotic unit to accommodate a specific demand for an item, tofollow a specific delivery schedule, etc.

For instance, the robotic unit can be configured for use as a vendingunit. In this case, the robotic unit could have a plurality of firsttype containers carrying drinks and second type containers carryingsnacks. The robotic unit is locked so as to only be accessed by a user(e.g., a hotel guest) who enters a recognized access code. For example,hotel guest can be given an access code or token when registering withthe hotel. This access code can allow them open the door (e.g., unlockthe door) of the robotic unit and/or gain access to the containerswithin the robotic unit. In this situation, the chain of custodytracking feature can be initiated as soon as the robotic unit has beenunlocked via input of an access code. The chain of custody informationcan track whether an item has been removed from the robotic unit via,for example, RFID tags placed on the items. The chain of custodyinformation can track which hotel guest removed which item, and chargethem appropriately.

In addition, the robotic unit is configured to only allow designateditems to be delivered to designated sites and/or to authorizedindividuals. This can be achieved by the robotic unit having a pluralityof containers that are locked within a storage space of the roboticunit, and are only accessible upon successful completion of anauthorization process. The authorization process can be entry of a codeinto a user interface of the robotic unit, proof of identity provided bythe individual, entrance of the robotic unit into a known location onthe map of the site, etc. For instance, sticking with the hospitalitysetting example, the robotic unit can be made to travel throughout ahotel with a plurality of lockable containers, each container configuredto carry a tray of food (e.g., food ordered via room service). Therobotic unit travels to room-1 designated as a location for delivery offood order-1. The hotel guest of room-1 can enter his/her access codeand be allowed to access container-1 to retrieve food order-1, butcannot access any other container within the robotic unit. The roboticunit travels to room-2 designated as a location for delivery of foodorder-2. The hotel guest of room-2 can enter his/her access code and beallowed to access container-2 to retrieve food-order-2, but cannotaccess any other container within the robotic unit.

As another non-limiting example, the robotic unit can be made to travelthroughout a residential setting (e.g., an apartment complex, acondominium complex, etc.) with a plurality of lockable containers, eachcontainer configured to carry a parcel or package. The robotic unittravels to apartment-1 designated as a location for delivery ofparcel-1. The apartment resident of apartment-1 can enter his/her accesscode and be allowed to access container-1 to retrieve parcel-1, butcannot access any other container within the robotic unit. The roboticunit travels to apartment-2 designated as a location for delivery ofparcel-2. The apartment resident of apartment-2 can enter his/her accesscode and be allowed to access container-2 to retrieve parcel-2, butcannot access any other container within the robotic unit.

In some embodiments, the robotic unit will not grant access to the itemunless the robotic unit is at the designated location and the correctaccess code is received. In other words, the user has to be at thedelivery location and enter the correct access code in order to gainaccess to the container. For instance, the apartment resident ofapartment-1 must be located at the appointed delivery location forapartment-1 and enter his/her access code to be allowed to accesscontainer-1 to retrieve parcel-1.

A benefit of the disclosed system is the ability to provide a flexible,modular delivery system by which a robotic unit follows delivery routesand delivers different types of items based on the type of container(s)used. In addition, using the delivery schemes disclosed herein arebeneficial in that the robotic unit can make multiple types ofdeliveries (e.g., delivery of restricted items and non-restricted items)by following a single delivery schedule or delivery route, but by onlyallowing authorized individuals to access the restricted items.Conventional systems and methods, however, require use of delivery unitsand delivery routes to transport restricted items that are separate anddistinct from delivery units and delivery routes to transportnon-restricted items.

Further features, aspects, objects, advantages, and possibleapplications of the present invention will become apparent from a studyof the exemplary embodiments and examples described below, incombination with the Figures, and the appended claims.

BRIEF DESCRIPTION OF THE FIGURES

The above and other objects, aspects, features, advantages and possibleapplications of the present invention will be more apparent from thefollowing more particular description thereof, presented in conjunctionwith the following drawings, in which:

FIG. 1 shows an exemplary block diagram of any embodiment of the system,illustrating an embodiment of a robotic unit following a delivery route.

FIG. 2 shows an embodiment of the robotic unit selectively deliveringitems to individuals.

FIG. 3 shows an exemplary block diagram of any embodiment of the system,illustrating an embodiment of a robotic unit following a delivery routeand being caused to make a detour.

FIG. 4 shows an embodiment of the system communicating with a computerdevice via an exemplary communications network.

FIG. 5A shows a front view of an exemplary embodiment of the roboticunit, and FIG. 5B shows a rear perspective view of an exemplaryembodiment of the robotic unit.

FIG. 6 shows a front perspective view of an exemplary embodiment of therobotic unit.

FIG. 7A shows a rear perspective view of an exemplary embodiment of therobotic unit with its doors in a closed position, and FIG. 7B shows atop view of an exemplary embodiment of the robotic unit with its doorsin an open position.

FIG. 8A shows an exemplary emergency stop button positioned on a topportion of an embodiment of the robotic unit with the emergency stopbutton being activated, and FIG. 8B shows an exemplary emergency stopbutton positioned on a top portion of an embodiment of the robotic unitwith the emergency stop button being de-activated.

FIG. 9 shows exemplary robotic unit sensor placement for an embodimentof the robotic unit.

FIG. 10 shows an exemplary message panel for an embodiment of therobotic unit.

FIGS. 11-13 show exemplary storage space configurations that can be usedfor embodiments of the robotic unit.

FIG. 14 shows a perspective and side view of exemplary container withits rail that can be used for an embodiment of the container.

FIG. 15 shows an exemplary container that can be used for an embodimentof the robotic unit.

FIG. 16 shows an exemplary container arrangement that can be used for anembodiment of the robotic unit.

FIG. 17A shows an exemplary container and locker-door configuration withthe locker-door in a closed position, FIG. 17B shows another exemplarycontainer and locker-door configuration with the locker-door in a closedposition, and FIG. 17C shows an exemplary container and locker-doorconfiguration with the locker-door in an open position.

FIG. 18 shows an exemplary locker-door configuration that can be usedwith an embodiment of the robotic unit.

FIG. 19 shows an exemplary container lock configuration with a lever andcatch arrangement that can be used with an embodiment of the roboticunit.

FIGS. 20-21 show an exemplary container lock configuration with magnetarrangement that can be used with an embodiment of the robotic unit.

FIG. 22 shows an exemplary user interface that can be used with anembodiment of the system.

DETAILED DESCRIPTION OF THE INVENTION

The following description is of an embodiment presently contemplated forcarrying out the present invention. This description is not to be takenin a limiting sense, but is made merely for the purpose of describingthe general principles and features of the present invention. The scopeof the present invention should be determined with reference to theclaims.

Referring to FIGS. 1-3, embodiments of the system 100 include at leastone robotic unit 102 configured to deliver items 104 to sites 106 and/orindividuals 108. The robotic unit 102 is a mobile unit that operatesautonomously to follow predetermined or programmed routes or paths 110throughout a facility (e.g., hotel) to deliver items 104 (e.g.,beverages, snacks, towels, etc.) to sites 106 (e.g., rooms) and/orindividuals 108 (e.g., guests, staff, etc.). The system 100 isconfigured to maintain a chain of custody for the items 104. Inaddition, the robotic unit 102 is configured to only allow designateditems 104 to be delivered to designated sites 106 and/or authorizedindividuals 108. For example, item-A 104 a may be designated fordelivery to individual-A 108 a, and thus the robotic unit 102 cantransport item-A 104 a to a site 106 where many individuals 108 arelocated but only allow individual-A 108 a to access item-A 104 a from astorage space 112 within the robotic unit 102. This can be achieved bythe robotic unit 102 having a plurality of containers 114 that arelocked within the storage space 112 of the robotic unit 102 and are onlyaccessible upon successful completion of an authorization process. Thecontainers 114 are preferably modular containers of different sizes toallow a range of elements to be transported by the robotic unit 102. Theauthorization process can be entry of a code into a user interface 116(see FIG. 22) of the robotic unit 102, proof of identity provided by theindividual 108, entrance of the robotic unit 102 into known location onthe map of the site 106, etc.

It is contemplated for embodiments of the system 100 to be used in ahospitality setting, but it will be understood that the system 100 canbe used in other settings, such as an office building, a mailroom, amanufacturing facility, hospital, apartment complex, condominiumcomplex, etc.

The robotic unit 102 has a motor in electro-mechanical connection withwheels, the motor being configured to receive signals from a processorof the robotic unit 102 that causes the robotic unit 102 to travel. Forexample, the processor causes the motor to drive the wheels or so as tocause the robotic unit 102 to move in a desired direction. Any of theprocessors disclosed herein can be an integrated circuit, a centralprocessing unit, a microprocessor, a core processor, a mother board, acomputer device, etc. in operative association with a non-volatile,non-transitory memory. The memory can be a data store, a database, amemory of a server (this can include a cloud-based server), etc. Any ofthe processors can include a means to transmit signals to and from othercomponents of the system 100. These signals can be command signals, dataacquisition signals from sensors, data input signals entered by users,etc. The transmission means can be achieved via a hardwire transmissionor wireless transmission (e.g., use of transceivers, gateways, etc.).

The processor of the robotic unit 102 is configured to executeinstructions stored on the memory that cause the robotic unit 102 tomake deliveries. This can include causing the robotic unit 102 to travelfrom site 106 and/or individual 108 to site 106 and/or individual 108 inaccordance with a generally determined or pre-determined path 110 and/ordelivery schedule. For example, the processor can be programmed to causethe robotic unit 102 to travel to site-A 106 a at a predetermined timeto deliver item-A 104 a, and then to site-B 106 b at a predeterminedtime to deliver item-B 104 b, etc. As another example, the processor canbe programmed to cause the robotic unit 102 to travel to site-A 106 a todeliver item-A 104 a, and then wait for further instructions, whereuponreceiving the further instructions it travels to site-B 106 b to deliveritem-B 104 b. As another example, the processor can be programmed tocause the robotic unit 102 to travel along a predetermined path 110and/or follow a delivery schedule unless it receives instructions todeviate from the predetermined path 110 and/or the delivery schedule.This deviation can be permanent (e.g., establishing a new predeterminedpath 110 and/or the delivery schedule) or temporary (e.g., establishingand following a detour). It will be appreciated by one skilled in theart that other delivery schemes can be derived and programmed into theprocessor of the robotic unit 102.

The robotic unit 102 includes at least one robotic unit sensor 118(e.g., proximity sensor, motion sensor, RADAR unit, LIDAR unit, soundsensor, light sensor, optical camera, infrared camera, RFID scanner,biometric scanner, etc.). The robotic unit sensor(s) 118 is configuredto facilitate navigation of the robotic unit 102, allowing the roboticunit 102 to travel along desired paths 110 and without running intoobjects or persons. The robotic unit sensor 118 can also allow therobotic unit 102 to navigate about the facility to the various sites 106and individuals 108 that are part of the delivery schedule by collectingdata to allow the processor of the robotic unit 102 to calculate andfollow the most efficient route 110, calculate and following detours,avoid impact with objects, persons, or other robotic units 102, etc.

It is contemplated for the robotic unit 102 to be an autonomous unitthat delivers the items 104 from site 106 and/or individual 108 to site106 and/or individual 108 automatically. As a non-limiting example, theprocessor of the robotic unit 102 is programmed to follow a generallydetermined or predetermined path 110, as defined by a floor plan of thefacility. This can include following a map of the facility that has beensaved on the memory associated with the processor of the robotic unit102. The processor of the robotic unit 102 causes the robotic unit 102to follow the predetermined path 110 while simultaneously avoidingobjects in its path 110, making detours when necessary, accessingelevators to change floors, etc. This can be achieved by the roboticunit sensor 118 obtaining a scan (e.g., a LIDAR scape, RADAR scape,images, a soundscape, etc.) that is a representation of the surroundingenvironment within which the robotic unit 102 is operating. Objectrecognition, signal processing (e.g., Fourier transforms, Gaborfiltering, etc.), and other object identification and navigationtechniques can be used to process the scan and identify obstacles in thepredetermined path 110, as well as the movement of the obstaclesrelative to the robotic unit 102. The processor of the robotic unit 102can also be in communication with processors of elevator controllers,for example, to allow the robotic unit 102 to access and utilize theelevator for transport.

As noted herein, the robotic unit 102 can use a map of a floor plan ofthe facility and its own internal awareness to allow the robotic unit102 to navigate throughout the facility and to determine its positiontherein at any given time. For instance, once the robotic unit 102arrives at site 106, the robotic unit 102 can cross-reference itslocation with coordinates on the map to determine that it is in fact atsite 106. Site-A 106 can be room #xyz in a hotel, for example. Thus, inaccordance with the floor plan and the known position of the roboticunit 102 on that floor plan, the system can validate that the site 106is room #xyz, its desired location.

Optionally, or possibly in addition to the map, external sensors and/orcameras 120 can be used to assist the robotic unit 102 in navigation andlocalization. For example, cameras/sensors 120 can be located throughoutthe facility. As the robotic unit 102 travels, the cameras/sensors 120communicate with the robotic unit 102 or computer system 124 to follow acertain path 110, validate that the path 110 being taken is the correctpath 110, prevent the robotic unit 102 from entering an unauthorized ornon-optimal area, identify an area as a site 106 to which the roboticunit 102 is programmed to make a delivery, etc. For instance, theprocessor of the robotic unit 102 can be programmed to cause the roboticunit 102 to travel along path-A 110 to site-A 106 a, the path 110 beingdefined by the floor plan recorded into the memory associated with theprocessor of the robotic unit 102. There may be several paths 110 totake, but the robotic unit 102 collects camera/sensor 120 information asit travels to ensure that it is taking path-A 110, or that path-A 110 isthe most efficient or safe route to take. Upon reaching its destination,as defined by the floor plan, the robotic unit 102 acquisitions datafrom a camera/sensors 120 located at the site 106 to identify thedestination as site-A 106 a. If the information obtained from the camera120 is determined as being a camera/sensors 120 associate with site-A106 a, then the system 100 validates that the robotic unit 102 hasreached a destination that is in fact at site-A 106 a.

The robotic unit 102 can then make its way to site-B 106 b in accordancewith the delivery schedule, following path-B 110 for example. On the wayto site-B 106 b, the robotic unit 102 may receive a robotic unit sensorsignal indicating that a portion of path-B 110 has been isolated orblocked off. This robotic unit sensor signal may be from camera/sensors120 that emits a signal indicating that an area in which any possiblepath 110 that runs through the area is off-limits (see FIG. 3).Isolating or blocking off an area within the facility can be achievedvia dynamic navigation and real-time mapping techniques. The roboticunit 102 can use navigation techniques to generate a detour for deliveryto site-B 106 b, the detour being a calculated route 110 around thecordoned area.

In addition, or in the alternative, the system 100 can generate acordoned off area to which the robotic unit 102 is confined. This can bedone to marshal the robotic unit 102 to a specific area in the facility,cause the robotic unit 102 to only travel possible paths 110 within thecordoned area, and/or derive the detour path 110 for the robotic unit102 by limiting the possible paths 110 that can be taken to the cordonedarea.

Referring to FIG. 4, as will be explained later, an embodiment of thesystem 100 can be configured to be part of a communications network 122in which the robotic unit 102 is in communication with at least onecomputer device 124 of the communications network 122. It iscontemplated for the computer device 124 to be part of a computer systemoperated by the facility or remotely at a data center. The computerdevice 124 can be used to communicate with the robotic unit 102 and/orthe cameras/sensors 120. In addition, or in the alternative, thecomputer device 124 can communicate directly with the robotic unit 102based on the information from the cameras/sensors 120 to cause therobotic unit 102 to take certain paths 110, make certain detours, etc.

As explained herein, the robotic unit 102 can be used to deliver items104 to designated sites 106 and/or authorized individuals 108. Adesignated site 106 can be one in which the robotic unit 102 identifiesas a site 106 matching the item 104 to be delivered to in accordancewith the delivery schedule. This can be achieved by the robotic unit 102arriving at a site 106 in accordance with the floor plan, the roboticunit 102 receiving other information (e.g., validating information forma user, validating information from a computer device 124 incommunication with the robotic unit 102, etc.), etc.

In addition, the robotic unit 102 can be configured to not grant accessto its storage space 112 (the portion of the robotic unit 102 containingthe items 104) unless the robotic unit 102 has arrived at its designatedsite 106. Again, this can include arriving at a site 106 in which therobotic unit 102 identifies as a site 106 matching the item 104 to bedelivered to in accordance with the delivery schedule, arriving at asite 106 in accordance with the floor plan, the robotic unit 102receiving other information (e.g., validating information from a user,validating information from a computer device 124 in communication withthe robotic unit 102, etc.), etc. In some embodiments, the robotic unit102 is configured to not grant access to its storage space 112 unlessthe robotic unit 102 is proximate (e.g., within a predetermineddistance) a camera/sensor 120 that is within or otherwise associatedwith the designated site 106. This can be achieved via mappingtechniques, signal analysis, sensor fusion techniques, etc.

Granting access to authorized individuals 108 will be explained later,but it should be noted that the robotic unit 102 can be furtherconfigured to not grant access to its storage space 112 and/or aspecific container 114 unless the individual 108 receiving the items 104is identified as an authorized person in accordance with the deliveryschedule. In some embodiments, the robotic unit 102 is configured to notallow access to the storage space 112 and/or a specific container 114unless the individual 108 is identified as being authorized in additionto the robotic unit 102 being within a designated site 106.

Referring to FIGS. 5-10, the robotic unit 102 has a housing 126 with ahousing first side 128, housing second side 130, housing front 132,housing rear 134, housing top 136, and a housing bottom 138. The roboticunit sensors 118 can be placed anywhere on the housing 126. As anon-limiting example, FIG. 9 shows the robotic unit sensors 118 beinglocated around a circumferential edge of a portion of the housing 128 ator near the housing top 136. Placing the robotic unit sensors 118 aroundthe circumferential edge can allow the robotic unit 102 to generate a360° scan of the surrounding environment. It should be noted that therobotic unit sensors 118 can be placed at other locations (e.g., thehosing front 132 at or near the middle portion of the housing 126,around a circumferential edge of a portion of the housing 128 at or nearthe housing bottom 138, etc.).

Referring to FIGS. 8A-8B, some embodiments of the robotic unit 102 caninclude an emergency stop button 144. The emergency stop button 144 canbe depressed to cause the robotic unit 102 to stop moving, to lock itswheels or tracks, to shut down, etc. In some embodiments, the roboticunit 102 can be configured to transmit an alert signal (e.g., transmitan alert signal to a computer device 124), sound an audible alarm, emita visible signal (see FIG. 8A), etc. when the emergency stop 144 buttonhas been activated. It is contemplated for the emergency stop button 144to be located on the housing top 136 for easy access and visibility fora user, but the emergency stop button 144 can be located anywhere on thehousing 126.

Referring to FIG. 10, in some embodiments, the housing 126 includes amessage panel 146. The message panel 146 can be a LED array, LCD array,etc. configured to display textual and/or graphical massages. Thetextual and/or graphical massages can be a greeting, an informationalmessage (e.g., informing a user where the robotic unit 102 is headed, ifthere is a malfunction, etc.), an advertisement, a logo, etc.

Referring to FIGS. 11-12, the housing 126 of the robotic unit 102 hashollowed out section defining a storage space 112. For example, thehousing 126 can have an interior that is the hollowed out section withan interior bottom 148, an interior top 150, an interior rear 152, aninterior first side 154, and an interior second side 156 conjoinedtogether to form a cavity that defines the storage space 112. It iscontemplated for the housing 126 to include at least one housing door140, the back surface of which forming an interior rear 158. The storagespace 112 is an area of the housing 126 that contains the items 104and/or containers 114. In some embodiments, the storage space 112includes at least one guide 160. The guide 160 is configured to receivea rail 162 portion of a container 114. For example, the guide 160 can begroove formed in any one or combination of the interior rear 152,interior first side 154, interior second side 156, and interior front158. The container 114 can be configured as a tray, bin, drawer,cabinet, subcabinet, locker etc. that has a rail 162 or a lip formedabout a periphery thereof, the rail 162 being configured to slide withinthe guide 160 and be retained in place by the mechanical engagementbetween the guide 160 and the rail 162.

In at least one embodiment, the guide 160 is a groove formed in theinterior first side 154 and the interior second side 156, the guide 160portion on the interior first side 154 being located at a same distance(in height) as that of the guide 160 portion on the interior second side156. This can facilitate receiving a rail 162 located on a first side168 of the container 114 and a rail 162 located on a second side 120 ofthe container 114. Some embodiments can include a plurality of guides160. For example, a first guide 160 can be a groove formed in theinterior first side 154 and the interior second side 156, the firstguide 160 portion on the interior first side 154 being located at a samedistance as that of the first guide 160 portion on the interior secondside 156. A second guide 160 can be a groove formed in the interiorfirst side 154 and the interior second side 156, the second guide 160portion on the interior first side 154 being located at a same distanceas that of the second guide 160 portion on the interior second side 156,wherein the first guide 160 is located at a distance that is differentfrom that of the second guide 160. Additional guides (a third guide 160,fourth guide 160, etc.) can be used.

Referring to FIGS. 13-16, the groove in any one or combination of theguides 160 can be triangular shaped, rectangular shaped, square shaped,C-shaped, D-shaped, etc. The cross-sectional shape of the rail 162 ofany one or combination of containers 114 can be triangular shaped,rectangular shaped, square shaped, C-shaped, D-shaped, etc. Thecross-sectional shape of the rail 162 of any one or combination ofcontainers 114 can be the same as or different from the shape of thegrooves in the guides 160. It is contemplated for the cross-sectionalshape of the rail 162 of a container 114 associated with a guide 160 tocomplement that of the shape of the groove for that guide 160. This canbe done to facilitate slidable motion of the container 114 to and fromthe interior front 158 and interior rear 152 (e.g., the container 114can be slid back and forth within the storage space 112). This can alsobe done to provide adequate support for the container 114 when thecontainer 114 is slid into the guide 160 (e.g., the container 114 doesmove up towards the interior top 150 or down towards the interior bottom148 when the container 114 is slide into the guide 160). When thehousing door 140 is open, the container 114 is able to be slid into andout from the storage space 112.

The container 114 has a container front 164, a container rear 166, acontainer first side 168, a container second side 170, in someembodiments a container top 172, and a container bottom 174. Thecontainer top 172 can be open and the container front 164, containerrear 166, container first side 168, container second side 170, andcontainer bottom 174 can be conjoined to form a container receptacle 176in which items 104 are placed. In some embodiments the contents incontainer 114 located in 176 will be blocked and hidden by the containerbottom 174 of a container above it thereby securing the goods. In otherembodiments, the container front 164 can be open and the container top172, container rear 166, container first side 168, container second side170, and container bottom 174 can be conjoined to form a containerreceptacle 176 in which items 104 are placed.

The container 114 can be configured to carry different items 114. Forexample, a first container 114 can be configured to carry a first typeof item 104, a second container 114 can be configured to carry a secondtype of item 104, a third container 114 can be configured to carry athird type of item 104, etc. The engagement of the containers 114 withthe guides 160 can facilitate easy re-configuration of the payload ofthe robotic unit 102. For example, the first container 114 can beconfigured as a drink holder to carry beverage type items 104, thesecond container 114 can be configured as a snack holder to carry snacktype items 104, and the third type of container 114 can be configured asan amenities holder to carry cosmetic and toiletry type items 104. Anyof the first, second, or third type containers 114 can be removed andreplaced by another type of container 114 to allow the robotic unit toaccommodate a specific demand for an item 104, to follow a specificdelivery schedule, etc. It should be noted that the types of items 104described above are exemplary and that other types of items 104 can beused.

As noted herein, the housing 126 can include at least one housing door140. The housing door 140 can be hingedly attached to the housing 126and be configured to provide selective access to the storage space 112.In at least one embodiment, the housing 126 has two housing doors 140hingedly attached to the housing 126 in a gullwing style arrangement.For example, the housing 126 can have a first housing door 140 hingedlyattached to the housing first side 128 and a second housing door 140hingedly attached to the housing second side 130 so that when thehousing doors 140 are open, they move back along the profile of thehousing 126. (See FIG. 7B).

The housing door 140 includes a door lock 184. (See FIG. 13). The doorlock 184 can be a mechanical lock, electrical lock, etc. For example,the door lock 184 can be an electro-magnetic deadbolt that traverses alocking bolt into and out-from a deadbolt receiver based on electricalsignals sent to a processor of the door lock 184. Upon the system 100determining that the robotic unit 102 is within the designated site 106and/or upon the system 100 identifying the individual 108 as anauthorized person, the door lock 184 can open, allowing or causing thehousing door 140 to open.

The processor can be programmed to unlock the door lock 184 as soon asthe robotic unit 102 enters the designated area, upon receiving anauthorized signal from the system 100, when an individual 108 has beenproperty identified as being an authorized person, etc. This can beachieved by the processor of the robotic unit 102 sending a commandsignal to the processor of the door lock 184. The processor of therobotic unit 102 can be programmed to allow the door lock 184 to beunlocked for a predetermined amount of time (e.g., 30 seconds), untilthe item 104 and/or container 114 is removed, until an authorizedindividual indicates he/she has received the item 104 and/or container114, etc., after which time or occurrence the processor of the roboticunit 102 causes the housing door 140 to close and the door lock 184 tolock by sending another signal to the processor of the door lock 184.For example, the processor of the robotic unit 102 may send a signal tothe processor of the door lock 184 to cause it to unlock the housingdoor 140 and open the housing door 140 when reaching site-A 106 a for 30seconds and then close the housing door 140 and lock it regardless ofthe item 104 and/or container 114 being received by the intendedindividual 108.

Some embodiments can include a container lock 184. (See FIGS. 19-21).The container lock 184 can be configured to selectively retain thecontainer 114 within the storage space 112. The container lock 184 canbe operated based on electrical signals sent from the processor of therobotic unit 102. After the housing door 140 is unlocked and open, thesystem 100 can be configured to allow selective access to a certaincontainer 114 based on the designated site 106 and/or the authorizationof the individual 108. For example, upon the system 100 determining thatthe robotic unit 102 is within the designated site 106 the door lock 184can open, allowing or causing the housing door 140 to open. Yet, onlywhen the system 100 identifies the individual 108 as an authorizedperson, will that person be granted access to a certain container 114 bythe system 100 unlocking the container lock 184 for that container 114.As will be explained, the container lock 184 can also have a processor,and the processor of the robotic unit 102 can be programmed to allow thecontainer lock 184 to be unlocked for a predetermined amount of time(e.g., 30 seconds), after which time or occurrence the processor of therobotic unit 102 can lock the container lock 184 by sending a signal tothe processor of the container lock 184.

Some containers 114 may not have a container lock 184. These can bereferred to as “free containers”. A free container can be a container114 that is accessible by anyone, as long as the housing doors 140 ofthe robotic unit 102 are unlocked and opened. The containers 114 thatare locked during a particular delivery can be referred to as“restricted containers”. A restricted container can be a container 114that is accessible only by an authorized individual 108. As anon-limiting example, upon the system 100 determining that the roboticunit 102 is within the designated site 106 the door lock 184 can open,allowing or causing the housing door 140 to open. At that time, anyonecan access the free containers and the items 104 contained therein. Yet,only when the system 100 identifies the individual 108 as an authorizedperson, will that person be granted access to the restricted containerassociated with that person.

It is contemplated for the free containers 114 to include items 104 suchas hotel room and bathroom products, for example, and for the restrictedcontainers 114 to include items 104 such as beverage and snack items,for example. Hotel guests can be given an access code or token (such as,but not limited to, a room key) to allow them to open the housing door140 of the robotic unit 102 so as to be able to access any container 114within the robotic unit 102. This can be done to only allow hotel gueststo access the containers 114 and items 104 of the robotic unit 102,thereby preventing non-guests from accessing the contents of the roboticunit 102.

It should be noted that a plurality of access codes or tokens can beused. For instance, an access code or token can be used to access thehousing door 140 and an access code or token can be used to access acontainer 114. The access code or token used to access the housing door140 can be the same as or different form the access code or token usedto access the container 114. In addition, as there can be a plurality ofcontainers 114, there can be a separate access code or token foraccessing each, or any combination, or containers 114.

As a non-limiting example, the system 100 can be configured for use in ahospitality setting (e.g., a hotel). The robotic unit 102 can have aplurality of first type containers 114 carrying various beverage items(e.g., the first type containers 114 can have drink holders). Therobotic unit 102 can have a plurality of second type containers 114carrying various snack food items (e.g., the second type containers canhave snack holders). The robotic unit 102 can have a plurality of thirdtype containers 114 carrying various hotel room and bathroom products,such as cosmetics, toiletries, towels, etc. As the robotic unit 102roams about the hotel or follows a predetermined path, items 104 can beaccessed or delivered to hotel guests and staff. Any of the first,second, or third type containers 114 can be removed and replaced byanother type of container to allow the robotic unit 102 to accommodate aspecific demand for an item 104, to follow a specific delivery schedule,etc.

For instance, the robotic unit 102 can be configured for use as avending unit. In this case, the robotic unit would have a plurality offirst type containers 114 carrying drinks and second type containers 114carrying snacks. Each of the first and second type containers 114 can belocked (i.e., restricted) so as to only be accessed by a user (e.g., ahotel guest) who enters an access code. For example, hotel guest can begiven an access code or token when registering with the hotel. Thisaccess code can allow them open the housing door 140 (e.g., unlock thehousing door 140) of the robotic unit 102 and/or gain access to anycontainer 114 (unlock the container(s) 114) within the robotic unit 102.In this situation, the chain of custody tracking feature can beinitiated as soon as the container 114 has been unlocked via input of anaccess code. The chain of custody information can track whether an item104 has been removed from the container 114, which container 114 hasbeen accessed, the time and location the container 114 was accessed, thetime and location the item 104 was moved, which individual removed anitem 104 from a specific container 114, etc.

As another example, the robotic unit 102 can be made to travelthroughout a hotel with a plurality of lockable containers 114, eachcontainer 114 configured to carry an order of food 104 (e.g., foodordered via room service or outside delivery service). The robotic unit102 travels to room-1 designated as a location for delivery of foodorder-1. The hotel guest of room-1 can enter his/her access code and beallowed to access container-1 to retrieve food order-1, but cannotaccess any other container 114 within the robotic unit 102. The roboticunit travels to room-2 designated as a location for delivery of foodorder-2. The hotel guest of room-2 can enter his/her access code and beallowed to access container-2 to retrieve food-order-2, but cannotaccess any other container 114 within the robotic unit 102.

As another non-limiting example, the robotic unit 102 can be made totravel throughout a hospitality setting (e.g., hotel) with a kit ofsupplies used for housekeeping with a plurality of non-lockingcontainers filled with materials needed for room cleaning and turnoverincluding supplies and linens. The robotic unit 102 travels to room-1designated as the assigned room for turnover. The housekeeper accessesthe payload and removes pre-filled containers. The housekeeper thenfills the robot with the used linens where it returns to a centralprocessing location in the hotel.

As another non-limiting example, the robotic unit 102 can be made totravel throughout a residential setting (e.g., an apartment complex, acondominium complex, etc.) with a plurality of lockable containers 114,each container 114 configured to carry a parcel 104 or package. Therobotic unit 102 travels to apartment-1 designated as a location fordelivery of parcel-1. The apartment resident of apartment-1 can enterhis/her access code and be allowed to access container-1 to retrieveparcel-1, but cannot access any other container 114 within the roboticunit 102. The robotic unit 102 travels to apartment-2 designated as alocation for delivery of parcel-2. The apartment resident of apartment-2can enter his/her access code and be allowed to access container-2 toretrieve parcel-2, but cannot access any other container 114 within therobotic unit 102.

In some embodiments, the robotic unit 102 will not grant access to theitem 104 unless the robotic unit 102 is at the designated location andthe correct access code is received. In other words, the user has to beat the delivery location and enter the correct access code in order togain access to the container 114. For instance, the apartment residentof apartment-1 must be located at apartment-1 and enter his/her accesscode to be allowed to access container-1 to retrieve parcel-1.

As another example, the system 100 can be configured for use in ahospital setting, in which the free containers include items 104 such asfoodstuff, toiletries, other supplies, etc., and the restrictedcontainers include items 104 such as medicine, drugs, medical sharps,medical diagnosis, etc. Thus, selective or discriminatory access may bedesired.

Using the delivery schemes disclosed herein can be beneficial in thatthe robotic unit 102 can make multiple types of deliveries (some items104 being restricted to being accessed by authorized individuals 108 andsome items 104 being freely accessed) by following a single deliveryschedule or delivery route 110. In contrast, conventional systems andmethods require use of delivery units and delivery routes 110 to deliverrestricted items that are separate and distinct from delivery units anddelivery routes 110 to deliver freely accessible items.

The details of the container lock 184 will be discussed later, but thecontainer lock 184 is configured to hold the container 114 in a stowedposition 186 until the container lock 184 is unlocked. A stowed position186 is one in which the container 114 is held within the storage space112 so that the container 114 cannot be removed from the storage space112. (See FIG. 13). The stowed position 186 is also one in which thecontainer rails 162 and container rim 182 are slidingly engaged with theguides 160 and the container 114 is located within the storage space 112so that the contents are protected by the bottom 174 of the uppercontainer. In this regard, the container 114 is held in place at alocation that prevents the contents to be seen or accessed. One cannotaccess the items 104 within the container 114 when the upper containeris the container 114.

The container 114 can be unlocked via the container lock 184 and slidout to an un-stowed position 188. In addition, in certain embodimentsthe container 114 can be slid completely out from the storage space 112.

Referring to FIGS. 17-18, in addition to or in alternative to thecontainer 114 the container 114 can have a locker-door 190. Thelocker-door 190 is hingedly attached to the container front 164. Forexample, the locker-door 190 can be hingedly attached to the containerfront 164 at or near the container bottom 174 so that the locker-door190 swings open by rotating down towards the container bottom 174 andswings closed by rotating up towards the container top 172. Thelocker-door 190 can be a planar member 192 with at least one guide tab194. The guide tab 194 can be a protrusion that is configured toslidingly engage a guide 160. For example, the cross-sectional shape ofthe guide tab 194 can complement that of the shape of the groove for aguide 160, allowing the guide tab 194 to slidingly engage the guide 160.In this regard, the cross-sectional shape of the guide tab 194 can betriangular shaped, rectangular shaped, square shaped, C-shaped,D-shaped, etc. It is contemplated for the cross-sectional shape of theguide tab 194 to have an angle (e.g., be square shaped, triangularshaped, etc.) and for the shape of the groove of the guide 160 to be thesame as that of the cross-sectional shape of the guide tab 194. This canbe done to allow the guide tab 194 to slidingly engage the guide 160when the guide tab 194 is in an orientation that causes the shapeprofile of the guide tab 194 to match that of the guide 160 but preventssliding engagement when the guide tab 194 is in an orientation thatcauses the shape profile of the guide tab 194 to not match that of theguide 160. For example, if the cross-sectional shape of the guide tab194 is square and the groove of the guide 160 is square, the guide tab194 can only slidingly engage the guide 160 if the guide tab 194 isorientated so that its shape profile matches the shape profile of theguide 160. This can also be done to require the locker-door 190 to berotated to a certain position to allow the guide tab 194 to slidinglyengage the guide 160. For example, the locker-door 190 may have to berotated up to a closed position before the guide tab 194 can slidinglyengage the guide 160. In addition, the locker-door 190 cannot be rotateddown to an open position unless the guide tab 194 is disengaged from theguide 160. For example, with the locker-door 190 hingedly attached tothe container front 164, the container 114 may have to be slid out (atleast partially) from the storage space 112 to cause the guide tab 194to disengage from the guide 160 and allow the locker-door 190 to berotated to the open position. Otherwise, the locker-door 190 is lockedin the closed position by the inability to rotate the locker-door 190open.

As noted herein, the container lock 184 can be used to hold thecontainer 114 in a stowed position 186. With embodiments of thecontainer 114 having a locker-door 190, the stowed position 186 can bedefined as the container 114 being slid into the storage space 112 sothat the guide tab 194 is slidingly engaged with the guide 160. This caninclude the locker-door 190 being rotated to the closed position. Thelocker-door 190 cannot be opened (e.g., cannot be rotated to the openposition) when the locker-door 190 is rotated to the closed position andthe container 114 is slid into the storage space 112 so that the guidetab 194 is slidingly engaged with the guide 160. With container lock 184holding the container 114 in the stowed position 186 until the containerlock 184 is unlocked, no access to the items 104 within the container114 can be obtained.

The guide tab 194 for the locker-door 190 can be positioned on thelocker-door 190 to engage the same guide 160 as the container rail 162or to engage a guide 160 that is different from the guide 160 that thecontainer rail 162 engages. For example, the locker-door 190 can have aguide tab 194 extending from a side at or near a top of the locker-door190 so that the guide tab 194 engages the same guide 160 as thecontainer rail 162. In addition, or in the alternative, the locker-door190 can have a guide tab 194 extending from a side at or near a bottomof the locker-door 190 so that the guide tab 194 engages a guide 160that is different from the guide the container rail 162 engages. In someembodiments, the locker-door 190 has a plurality of guide tabs 194. Forexample, the locker-door 190 can have at least one first guide tab 194 aextending from a first side of the locker-door 190. The locker-door 190can have at least one second guide tab 194 b extending from a secondside of the locker-door 190.

Referring to FIG. 19, in one embodiment, the container lock 184 can be alever 196 having a catch 198, the lever 196 being attached to anelectromechanically actuated spring-plunger 210. The container lock 184can be attached to a portion of the container 114 (e.g., at or near thecontainer rail 162) and/or a portion of the housing 126 (e.g., at ornear a guide 160). In one embodiment, the container lock 184 is attachedto the housing first side 128 and/or housing second side 130 so that thecatch 198 is able to extend through a notch 200 formed within a guide160. The container rail 162 has a corresponding notch 200 thatco-registers (e.g., spatially aligned with each other) with the notch200 of the guide 160 when the container 114 is in a stowed position 186.When co-registered, the lever 196 can be caused to pivot via the motorto position the catch 198 so that it engages the notches 200, therebylocking the container 114 in the stowed position 186. The lever 196 canbe can be caused to pivot via the motor to position the catch 198 sothat it dis-engages from the notches 200, thereby unlocking thecontainer lock 184 and allow the container 114 to be slid within theguides 160. This can include sliding the container 114 away from theinterior rear 152 and into the un-stowed position 188.

The motor of the container lock 184 can have a processor that receivessignals from the processor of the robotic unit 102. Upon the system 100determining that the robotic unit 102 is within the designated site 106and upon the system 100 identifying the individual 108 as an authorizedperson, the container lock 184 can open, allowing the container 114 tobe freely slid within the guides 160. This can include sliding thecontainer 114 from its stowed position 186 so that the container lid 178can be lifted or swung open. This can include sliding the container 114from its stowed position 186 so that the locker-door 190 can be rotatedto an open position. When the container 114 is slid back to its stowedposition 186, a signal from the processor of the robotic unit 102 can besent to the processor of the motor to cause the catch 198 of the lever196 to engage the notches 200 and lock the container 114 in the stowedposition 186.

Referring to FIGS. 20-21, in addition or in the alternative to thecontainer lock 184 being a lever arrangement, the container lock 184 canbe a magnet arrangement. The magnet arrangement can be at least onefirst magnetic element 202 disposed on the housing interior and at leastone second magnetic element 204 disposed on the container 114. The firstmagnetic element 202 can be disposed on the interior rear 152, aninterior first side 154, an interior second side 156, within a guide160, etc. The second magnetic element 204 can be disposed on thecontainer rear 166, container first side 168, container second side 170,container rail 162, etc. The first magnetic element 202 can be a magnetor a material attractable by magnetic force. The second magnetic element204 can be a magnet or a material attractable by magnetic force. It iscontemplated for at least one of the first magnetic element 202 and thesecond magnetic element 204 to be a magnet. Any of the magnets of thefirst magnetic element 202 and/or the second magnetic element 204 can bean electromagnet, allowing the magnet to be electively magnetized.

The first magnetic element 202 and the second magnetic element 204 arepositioned so that when the container 114 is slid into the storage space112 and slid into a stowed position 186, the first magnetic element 202and the second magnetic element 204 co-register. When the electromagnetof the first magnetic element 202 and/or the second magnetic element 204is magnetized and the first magnetic element 202 and the second magneticelement 204 are co-registered, the magnetic force causes the firstmagnetic element 202 and the second magnetic element 204 to attract.This attraction force is the locking mechanism of the container lock 184and prevents the container 114 from being slid to or from the interiorrear 152 and/or interior front 158. This can include locking thecontainer in the stowed position 186.

The electromagnet of the first magnetic element 202 and/or the secondmagnetic element 204 can have a processor that receives signals from theprocessor of the robotic unit 102. Upon the system 100 determining thatthe robotic unit 102 is within the designated site 106 and upon thesystem 100 identifying the individual 108 as an authorized person, thecontainer lock 184 can open, allowing the container 114 to be freelyslid within the guides 160. This can include sliding the container 114from its stowed position 186 so that the container lid 178 can be liftedor swung open. This can include sliding the container 114 from itsstowed position so that the locker-door 190 can be rotated to an openposition. When the container 114 is slid back to its stowed position186, a signal from the processor of the robotic unit 102 can be sent tothe processor of the electromagnet to cause the first magnetic element202 and the second magnetic element 204 to attract and lock thecontainer 114 in the stowed position 186.

In some embodiments the container 114 can be configured as a drawer thatslides in and out of the storage space 112. The actuation of thedrawer-type container 114 can be manual or via a mechanical motor (e.g.,a solenoid actuator). In some embodiments, the drawer-type container 114can be affixed in place within the storage space 122 and have a doorthat is open and closed via actuation of a solenoid actuator, while thecontainer 114 remains affixed in place within the storage space 112.

Referring to FIG. 22, the robotic unit 102 can include a display 142configured to display a user interface 116. The user interface 116 canbe programmed to facilitate control of and display of variousoperational aspects of the robotic unit 102. The user interface 116includes interactive elements to allow a user to enter information thatallows the user to open and close the housing door 140, lock and unlockthe container lock 184, validate that the site 106 is the correct site106, validate that the user is an authorized individual 108, etc.

As noted above, any of the robotic unit sensors 118 can be a scanner,and thus the user interface 116 can request that a user scans a token ofvarious types (such as a room key), the token being associated with thesite 106, to validate that the robotic unit 102 is at the correct site106 before opening the housing door 140 and/or unlocking the containerlock 184. Other means for entering validation information such as a pincode can be used.

Upon entering the validating information, the processor of the roboticunit 102 analyzes the information to determine if the site 106 is thecorrect site 106. If the site 106 is the correct site 106, the processorof the robotic unit 102 sends a signal to the processor of the door lock184 to unlock the door lock 184 and/or sends a signal to the processorof the container lock 184 to unlock the container lock 184.

As another example, the user interface 116 can request that a userenters a code, a personal identifier, etc. to validate that the user isan authorized individual 108 before opening the housing door 140 and/orunlocking the container lock 184. As any of the robotic unit sensors 118can be a scanner, the user interface 116 can request that a user scans atoken, the token being associated with the user, to validate that theuser is an authorized individual 108 before opening the housing door 140and/or unlocking the container lock 184. As noted above, any of therobotic unit sensors 118 can be a biometric scanner, and thus the userinterface 116 can request that a user scans a portion of his/her body(such as finger) to validate that the user is an authorized individual108 before opening the housing door 140 and/or unlocking the containerlock 184. Other means for entering validation information can be used.

Upon entering the validating information, the processor of the roboticunit 102 analyzes the information to determine if the user is anauthorized individual 108. If the user is an authorized individual 108,the processor of the robotic unit 102 sends a signal to the processor ofthe door lock 205 and/or sends a signal to the processor of thecontainer lock 184 to unlock the container lock 184

As noted herein, the robotic unit 102 can be configured to hold aplurality of containers 114. A container 114 can be encoded when placedin the storage space 112 so that when its second magnetic element 204co-registers with a corresponding first magnetic element 202, the system100 can identify that container 114. As another example, a container 114can be encoded when placed in the storage space 112 so that when itscontainer lock 184 locks due to the co-registration of the catch 198 andthe notches 200, the system 100 can identify that container 114.

As a non-limiting example, the encoding can be achieved via coordinatedcommunication between the container lock 184 of the container 114 andthe processor of the robotic unit 102. A container 114 can holddesignated items 104 for a designated purpose (e.g., for vending). If acontainer 114 is designated for such a purpose, only individuals whohave been given an access code or a token for access to that container114 can access the container 114. For instance, a first container 114can hold items 104 designated for purchase by a first set of individuals108 (e.g., registered guests of a hotel), a second container 114 canhold items 104 designated for delivery to a second set of individuals(e.g., registered guest of the hotel who ordered room service), and athird container 114 can hold items 104 designated for delivery to athird set of individuals (e.g., hotel staff). Anyone of the first,second, and third set of individuals can open the housing door 140 viaentry of an access code or token to identify them as guests or staff ofthe hotel so as to access the items 104 of the second container 114.However, the first container 114 can be locked via the container lock184 until any one of the first set of individuals 108 enters validatinginformation to cause the processor of the robotic unit 102 to send asignal that opens the container lock 184 for the first container 114.Similarly, the second container 114 can be locked via the container lock184 until any one of the second set of individuals 108 enters validatinginformation to cause the processor of the robotic unit 102 to send asignal that opens the container lock 184 for the first container 114.Additionally, the third container 114 can be locked via the containerlock 184 until any one of the third set of individuals 108 entersvalidating information to cause the processor of the robotic unit 102 tosend a signal that opens the container lock 184 for the third container114.

For the scenario in which the robotic unit 102 is delivering items 104for specific individuals (e.g., delivery of room service items, deliveryof parcels to apartment residents, etc.), each container 114 can holddesignated items 104 for a designated individual 108. If a container 114is designated for such a purpose, only an authorized individual 108 forwhom the designated items 104 are intended for can access that container114. Thus, an identified container 114 can be designated for holdingdesignated items 104 for a designated individual 108. For instance, afirst container 114 can hold items 104 designated for a first individual108, a second container 114 can hold items 104 designated for a secondindividual 108, a third container 114 can hold items 104 that are notdesignated for any individual 108. The first container 114 can be lockedvia the container lock 184 until the first individual 108 enters thevalidating information to cause the processor of the robotic unit 102 tosend a signal that opens the door 140 and unlocks container lock 184 forthe first container 114. The second container 114 can be locked via thecontainer lock 184 until the second individual 108 enters the validatinginformation to cause the processor of the robotic unit 102 to send asignal that opens the door 140 and container lock 184 for the secondcontainer 114. The third container 114 can remain unlocked and can befreely accessed by any individual 108 at any time the door lock 184 isunlocked.

The user interface 116 can also include interactive elements tofacilitate tracking chain of custody for the items 104 and/or containers114. For example, the user interface 116 can request that a useridentify the items 104 that had been removed from the container 114after the container 114 has been accessed. In addition, or in thealternative, the processor of the robotic unit 102 can track the routes110 taken by the robotic unit 102, the time it takes to make thedeliveries, the time the robotic unit 102 stops at each site 106, theamount of time the robotic unit 102 stops at each site 106, the correctand/or incorrect validating information entered into the user interface116 or received by the processor of the robotic unit 102 via the roboticsensors 118, which containers 114 were accessed at each site 106, theindividuals 108 accessing the containers 114 at each site 106, etc.

In some embodiments, the items 104 and/or can have tracking markers 208attached to them. (See FIG. 17A). These can be sensed by any one orcombination of the robotic unit sensors 118. This can be done todetermine if and when the item 104 and/or container 114 exits thestorage space 112. For example, any one or combination of robotic unitsensors 118 can be placed within the storage space 112 and cancontinuously, periodically, or at the discretion of the user (e.g., viathe user interface 116) scan for the items 104 and/or containers 114. Inaddition, or in the alternative, the user interface 116 can request thata user identified him/herself and then scan an item 104 via a roboticunit sensor 118 located on an outside surface of the robotic unit 102.This can be done to identify the individual 108 who has removed the item104. The system 100 can be configured so that if the user does not scanthe item 104 within a predetermined time period after the robotic unit102 detects the item 104 being removed from the storage space 112, therobotic unit 102 can transmit an alert signal (e.g., transmit an alertsignal to a computer device 124), sound an audible alarm, close and lockthe housing door 140, etc.

As noted above, the robotic unit 102 can be part of or in connectionwith a communications network 122. (See FIG. 4). For example, theprocessor of the robotic unit 102 can include switches, transmitters,transceivers, routers, gateways, etc. to facilitate communications via acommunication protocol that facilitates controlled and coordinatedsignal transmission and processing. The communication links can beestablished by communication protocols that allow a robotic unit 102 toform the communications network 122 with another robotic unit 102 and/oranother apparatus (e.g., a computer device 124). Embodiments of thecomputer device 124 can include a server, a mainframe computer, a desktop computer, a laptop computer, a tablet, a smartphone, etc. Any one orcombination of the other robotic unit 102 and/or computer device 124 canbe on the same communications network 122 or a different communicationsnetwork 122. For instance, the robotic unit 102 can be configured tocommunicate with another robotic unit 102 and/or computer device 124 andto facilitate data transmissions to and from nodes (e.g., robotic units102 or computer devices 124) within or between discrete communicationnetworks. The communications network 122 can be a long range wired or awireless network, such as an Ethernet, telephone, Wi-Fi, Bluetooth,wireless protocol, cellular, satellite network, cloud computing network,etc. Embodiments of the communications network 122 can be configured asa predetermined network topology. This can include a mesh networktopology, a point-to-point network topology, a ring (or peer-to-peer)network topology, a star (point-to-multiple) network topology, or anycombination thereof.

In addition, robotic unit 102 can have an application programminginterface (API) and/or other interfaces configured to facilitate acomputer device 124 that is in communication with the robotic unit 102executing commands and controlling aspects of the robotic unit 102. Forexample, the computer device 124 can be programmed to generate a userinterface 116 configured to facilitate control of and display of variousoperational aspects of the robotic unit 102. In addition, the userinterface 116 of the computer device 124 can be programmed to displaystatistics and other analytics regarding the chain of custodyinformation.

An exemplary implementation of the system 100 includes placing item-A104 a in container-A 114 a, item-B 104 b in container-B 114 b, anditem-C 104 c in container-C 114 c. Item-A 104 a is designated fordelivery to individual-A 108 a (or designated for the purpose ofdelivering to set of individual-A's), item-B 104 a is designated fordelivery to individual-B 108 b (or designated for the purpose ofdelivering to set of individual-A's), and item-C 104 a is not designatedfor delivery to any particular individual 108 (or not designated for thepurpose of delivering to any particular set of individuals). Thecontainers 114 a, 114 b, 114 c are placed within the storage space 112.Container-A 114 a is locked via its container lock 184 a and isregistered as a restricted container only to be accessed by individual-A108 a (or any individual from the set of individual-A's). Container-B114 b is locked via its container lock 184 b and is registered as arestricted container only to be accessed by individual-B 108 b (or anyindividual from the set of individual-A's). Container-C 114 b is notlocked and is registered as a free container to be accessed by anyindividual 108. The housing doors 140 are locked via the door lock 184.

In one exemplary implementation, the robotic unit 102 is caused tofollow a generally determined or predetermined path 110 throughout thefacility (e.g., hotel). This can involve any one or combination ofroaming about the hotel by following predetermined paths dictated by amap of the hotel, making specific deliveries to specific locations,making specific deliveries to specific individuals, etc. For instance,the robotic unit 102 can be cause to deliver item 104 a to individual-A108 a located a room 123. The robotic unit 102 then navigates thepredetermined path 110 and takes any detours that it is instructed totake via the computer device 124 and/or calculated to take by dataacquisition of the surroundings. On its way, individual-B 108 b stopsthe robotic unit 102 to access item 104 b from the container-B upon therobotic unit 102 receiving validating information from individual-B 108b. The robotic unit 102 navigates to room 123 and receives validatinginformation that it is located at room 123 (e.g., the robotic unit 102determines it is at room 123 by comparing its location with the map).Individual-A accesses item 104 a from container-A upon the robotic unit102 receiving validating information from individual-A 108 a. Therobotic unit 102 then continues to roam about the hotel to be stopped byindividual-C located at the lobby area. Individual-C accesses item 104 cfrom container-C upon the robotic unit 102 receiving validatinginformation from individual-C 108 a that individual-C is a guest of thehotel.

In some embodiments, the robotic unit 102 can be configured to not stopbetween delivery sites. Thus, the robotic unit 102 may be caused todeliver item-A 104 a to individual-A 108 a without being able to bestopped by individual-B 108 b.

In another exemplary implementation, the robotic unit 102 is caused tofollow a generally determined or predetermined path 110 throughout thefacility to deliver item 104 a to individual-A 108 a located at site-A106 a and to deliver item 104 b to individual-B 108 b locate at site-B106 b. The robotic unit 102 navigates the path 110 and takes any detoursthat it is instructed to take via the computer device 124 and/orcalculated to take by data acquisition of the cameras/sensors 120 anddata acquisition of the environment scan. The robotic unit 102 navigatesto site-A 106 a and receives validating information that it is withinsite-A 106 a. The robotic unit 102 then unlocks the housing doors 140 togrant access to the storage space 112. Any individual 108 can removecontainer-C 114 c and/or item-C 104 c. Only upon receiving validatinginformation from individual-A 108 a does the robotic unit 102 unlockcontainer lock 184 a to allow individual-A 108 a to gain access tocontainer-A 114 a and/or item-A 104 a. The robotic unit 102 records theitems 104 and/or containers 114 accessed and the individuals 108accessing those items 104 and/or containers 114. The robotic unit 102closes the housing doors 140 and locks the door lock 184. The roboticunit 102 navigates to site-B 106 b and receives validating informationthat it is within site-B 106 b. The robotic unit 102 then unlocks thehousing doors 140 to grant access to the storage space 112. Anyindividual 108 can remove container-C 114 c and/or item-C 104 c. Onlyupon receiving validating information from individual-B 108 a does therobotic unit 102 unlock container lock 184 b to allow individual-B 108 ato gain access to container-B 114 a and/or item-A 104 b. The roboticunit 102 records the items 104 and/or containers 114 accessed and theindividuals 108 accessing those items 104 and/or containers 114. Therobotic unit 102 closes the housing doors 140 and locks the door lock184.

With any implementation, the system 100 can be configured to track achain of custody for any item 104. Any time the item 104 has been movedfrom its location within a container 114, the system 100 can record thetime and place the item 104 was moved, as well as the individual whocurrently had access to the robotic unit 102 and/or container 114.

With any implementation, the robotic unit 102 can be re-configured byremoving and replacing any container 114 type with another container 114type. For example, the robotic unit 102 can include containers 114specifically configured for delivery of items 104 in the lobby area ofthe hotel and then be re-configured to deliver items 104 in theback-office area of the hotel, and then be re-configured to deliveritems 104 in the kitchen area, etc.

Additional understanding of the disclosed system and methods of use canbe obtained from the materials attached as an appendix of thisspecification.

It should be understood that the disclosure of a range of values is adisclosure of every numerical value within that range, including the endpoints. It should also be appreciated that some components, features,and/or configurations may be described in connection with only oneparticular embodiment, but these same components, features, and/orconfigurations can be applied or used with many other embodiments andshould be considered applicable to the other embodiments, unless statedotherwise or unless such a component, feature, and/or configuration istechnically impossible to use with the other embodiment. Thus, thecomponents, features, and/or configurations of the various embodimentscan be combined together in any manner and such combinations areexpressly contemplated and disclosed by this statement.

It will be apparent to those skilled in the art that numerousmodifications and variations of the described examples and embodimentsare possible in light of the above teachings of the disclosure. Thedisclosed examples and embodiments are presented for purposes ofillustration only. Other alternate embodiments may include some or allof the features disclosed herein. Therefore, it is the intent to coverall such modifications and alternate embodiments as may come within thetrue scope of this invention, which is to be given the full breadththereof.

It should be understood that modifications to the embodiments disclosedherein can be made to meet a particular set of design criteria. Forinstance, any of the robotic units 102, containers 114, robotic unitsensors 118, camera/sensors 120, communication networks 122, computerdevices 124, container locks 184, tracking markers 208, and/or othercomponents of the system 100 can be any suitable number or type of eachto meet a particular objective. Therefore, while certain exemplaryembodiments of the system 100 and methods of using the same disclosedherein have been discussed and illustrated, it is to be distinctlyunderstood that the invention is not limited thereto but may beotherwise variously embodied and practiced within the scope of thefollowing claims.

What is claimed is:
 1. A delivery and chain of custody system,comprising: a robotic unit configured to follow a determined orpredetermined route throughout a facility to deliver items, the roboticunit comprising a processor and a housing having an interior bottom, aninterior top, an interior rear, an interior first side, and an interiorsecond side conjoined together to form a cavity that defines a storagespace, the storage space configured to receive a plurality of modularcontainers of different sizes; a housing door comprising a door lock,the housing door configured to selectively grant access to the storagespace; a guide formed in the interior first side and the interior secondside, the guide configured to slidably receive the modular containersand allow for slidable motion of the modular containers to and from theinterior rear but to prevent motion of the modular containers to andfrom the interior bottom and the interior top; and a container lockconfigured to selectively permit and prevent the slidable motion of atleast one of the modular containers to and from the interior rear;wherein the processor is operatively associated with the door lock andthe container lock; wherein the processor is configured to operate thedoor lock and the container lock based on: the robotic unit being withina designated site in accordance with a delivery schedule; and therobotic unit receiving validation information in the form of an accesscode or a token that an individual is an authorized individual.
 2. Thesystem recited in claim 1, wherein the processor is configured to openthe door lock when within the designated site.
 3. The system recited inclaim 1, wherein the processor is configured to open the door lockand/or container lock when it receives the validation information. 4.The system recited in claim 3, wherein the access code or token used toaccess the door lock is different from the access code or token used toaccess the container lock.
 5. The system recited in claim 1, wherein theprocessor is configured to open the door lock when within the designatedsite but not open the container lock until it receives the validationinformation.
 6. The system recited in claim 1, wherein the containerlock comprises a lever arrangement and/or a magnet arrangement.
 7. Thesystem recited in claim 6, wherein: the lever arrangement comprises aelectromechanically actuated plunger style lever having a catch, whereinthe plunger is actuated by a motor that causes the catch to engage anddisengage with a notch formed in the guide and a notch formed in thecontainer; and the magnet arrangement comprises first magnetic elementdisposed on the housing and a second magnetic element disposed on thecontainer, wherein the first magnetic element is a magnet or a materialattractable by magnetic force, and the second magnetic element is amagnet or a material attractable by magnetic force, wherein when thefirst magnet element co-registers with the second magnetic element, thesystem identifies the type and placement of the container.
 8. The systemrecited in claim 1, further comprising the container, the containerhaving a container rail about a periphery of the container andconfigured to slidingly engage with the guide.
 9. The system recited inclaim 1, wherein: the storage space is configured to allow: thecontainer to slide along the guide towards the interior rear to a stowedposition; and the container to slide along the guide away from theinterior rear to an un-stowed position; and the container lock isconfigured to selectively lock the container in the stowed position. 10.The system recited in claim 8, further comprising a locker-door hingedlyattached to the container, the locker-door having a guide tab configuredto slidingly engage the guide.
 11. The system recited in claim 10,wherein the guide tab is configured to prevent rotation of thelocker-door about the hinge when the guide tab is slidingly engaged withthe guide.
 12. The system recited in claim 11, wherein: the storagespace is configured to allow: the container to slide along the guidetowards the interior rear to a stowed position, the stowed positionbeing defined as the guide tab being slidingly engaged with the guide soas to prevent rotation of the locker-door; and the container to slidealong the guide away from the interior rear to an un-stowed position,the un-stowed position being defined as the guide tab being slidinglydis-engaged with the guide so as to allow rotation of the locker-door;and the container lock is configured to selectively lock the containerin the stowed position.
 13. The system recited in claim 8, wherein thecontainer is configured to hold the items.
 14. The system recited inclaim 13, further comprising a plurality of containers, wherein: theprocessor is configured to designate at least one container as a freecontainer to be freely accessed by any individual having access to therobotic unit; and the processor is configured to designate at least onecontainer as a restricted container to be accessed by the authorizedindividual for whom the items being delivered are designated.
 15. Thesystem recited in claim 1, wherein the robotic unit is configured todeviate from the determined or pre-determined route to achieve any oneor combination of avoiding collisions, following a detour, and pursuinga more or less optimal path.
 16. A method for delivery and chain ofcustody for items, the method comprising: placing a first item in afirst container, and placing a second item in a second container andplacing a third item in a third container; designating the first itemfor delivery to a first individual and designating the second item fordelivery to a second individual; placing the first container, the secondcontainer, and a third container in a storage space of a robotic unit;locking the first container within the storage space and registering thefirst container as a restricted container only to be accessed by thefirst individual, locking the second container within the storage spaceand registering the second container as a restricted container only tobe accessed by the second individual, and registering the thirdcontainer as a free container to be accessed by any individual; causingthe robotic unit to follow a predetermined path to deliver the firstitem to the first individual and the second item to the secondindividual in accordance with a delivery schedule, wherein whilefollowing the delivery schedule the robotic unit: allows access to thethird container by any individual only when the robotic unit is within adesignated site in accordance with the delivery schedule; unlocks thefirst container only upon receiving validation information in the formof an access code or a token about the first individual; and unlocks thesecond container only upon receiving validation information in the formof an access code or a token about the second individual.